A neural network sliding mode controller with application to robotic manipulator

被引：0
|
作者：
Peng, Jinzhu [1 ]
Wang, Yaonan [1 ]
Sun, Wei [1 ]
Liu, Yan [1 ]
机构：
[1] Hunan Univ, Coll Elect & Informat Engn, Changsha 410082, Hunan, Peoples R China
来源：
WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS | 2006年
基金：
中国国家自然科学基金;
关键词：
sliding mode control; neural network; robotic trajectory control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A sliding mode control strategy compensated by neural network is proposed, and that is applied to robotic trajectory control. First, a three-layer neural network is used to compensate the uncertainties in the robotic system. Then the structure of sliding mode controller with neural network compensation and the learning algorithm of the neural network are designed based on Lyapunov theorem to guarantee the stability of the system and improve the dynamic performance of the system. The simulation results show that the proposed control strategy can not only reduce the phenomenon of chattering in effect, but also has good robustness and dynamic performance.
引用
收藏
页码：2101 / +
页数：2
相关论文
共 50 条
  • [1] Fuzzy sliding mode controller with RBF neural network for robotic manipulator trajectory tracking
    Ak, Ayca Gokhan
    Cansever, Galip
    [J]. INTELLIGENT CONTROL AND AUTOMATION, 2006, 344 : 527 - 532
  • [2] Switched Controller Design for Robotic Manipulator via Neural Network-Based Sliding Mode Approach
    Zhao, Xingqiang
    Liu, Zhen
    Jiang, Baoping
    Gao, Cunchen
    [J]. IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS, 2023, 70 (02) : 561 - 565
  • [3] Adaptive Neural Higher Order Terminal Sliding Mode Controller Application to Trajectory Tracking of Robotic Manipulator
    Rezoug, Amar
    Hamerlain, Mustapha
    [J]. PROCEEDINGS OF 2016 8TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION & CONTROL (ICMIC 2016), 2016, : 320 - 325
  • [4] An adaptive neural network sliding mode controller for robotic manipulators
    Sadati, Nasser
    Ghadami, Rasoul
    Bagherpour, Mahdi
    [J]. 2005 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY - (ICIT), VOLS 1 AND 2, 2005, : 1310 - 1315
  • [5] Sliding mode controller with RBF neural network for manipulator trajectory tracking
    Zhang, Haitao
    Du, Mengmeng
    Bu, Wenshao
    [J]. IAENG International Journal of Applied Mathematics, 2015, 45 (04) : 334 - 342
  • [6] A sliding-mode control for robotic manipulator with neural network compensation
    Sun, W.
    Wang, Y. N.
    Zhai, X. H.
    [J]. DYNAMICS OF CONTINUOUS DISCRETE AND IMPULSIVE SYSTEMS-SERIES B-APPLICATIONS & ALGORITHMS, 2006, 13E : 224 - 228
  • [7] Research on Sliding Mode Control for Robotic Manipulator Based on RBF Neural Network
    Gao, Wei
    Shi, Jianbo
    Wang, Wenqiang
    Sun, Yue
    [J]. 2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2017, : 4934 - 4938
  • [8] A Sliding Mode Controller for Servo System of Robotic Manipulator with Disturbance
    Tian, Fengxia
    [J]. BASIC & CLINICAL PHARMACOLOGY & TOXICOLOGY, 2019, 124 : 296 - 297
  • [9] An Intelligent Sliding Mode Controller Based on Nominal Model of Robotic Manipulator
    Liu, Xiuling
    Feng, Yudong
    Wang, Hongrui
    Feng, Zhanfang
    [J]. ICNC 2008: FOURTH INTERNATIONAL CONFERENCE ON NATURAL COMPUTATION, VOL 4, PROCEEDINGS, 2008, : 322 - +
  • [10] New sliding mode controller for robotic manipulator subjected to disturbance and uncertainty
    Ham, J. H.
    Choi, S. B.
    [J]. PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, 2006, 220 (06) : 807 - 815
12345